For a Lorentz transformation with moving at along relative to ,
Differentiate along the object's trajectory and divide the spatial differentials by . Using and derives the relativistic velocity-addition formula:
In the rest frame of ship A, take and the Earth-frame velocity of B as . Here and the common denominator is one, so
The required relative speed is the magnitude of this two-component velocity, not either component separately:
The inverse Lorentz factor check is , which gives the same relative speed.

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